A non-degenerate orientation solution of a four-jointed wrist. - Michael M. Stanisic; Gordon R. Pennock (ICRA, 1985)

Workspace of a six-revolute decoupled robot manipulator. - W. W. Cimino; Gordon R. Pennock (ICRA, 1986)

Inverse Velocity and Acceleration Solutions of Serial Robot Arm Subassemblies Using the Canonical Coordinate System. - Michael M. Stanisic; Gordon R. Pennock; C. M. Krousgrill (Int. J. Robotics Res., 1988)

The Inverse Kinematics of a Three-Cylindric Robot. - Gordon R. Pennock; B. C. Vierstra (Int. J. Robotics Res., 1990)

Static force analysis of a three-cylindric robot using the theory of screws. - Gordon R. Pennock; Bilal Arif Oncu (Robotics Auton. Syst., 1992)

Forward position problem of two PUMA-type robots manipulating a planar four-bar linkage payload. - Gordon R. Pennock; Keith G. Mattson (ICRA, 1996)